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Fair Value Measurement of Assets and Liabilities - Changes in Level 3 Assets (Details) - Available for Sale Securities - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Changes in Level 3 Assets        
Balance, beginning of the period $ 6,498 $ 11,367 $ 7,360 $ 11,888
Total net gains (losses) included in other comprehensive income 313 (31) (85) 13
Settlements, net (368) (606) (832) (1,171)
Balance, end of the period $ 6,443 $ 10,730 $ 6,443 $ 10,730